Diff: main.cpp

Revision:

0:fa587f2eec11

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Apr 24 04:14:25 2017 +0000
@@ -0,0 +1,82 @@
+#include "mbed.h"
+#include "LSM9DS1.h"
+#include "Wireless.h"
+#define PI 3.14159
+// Earth's magnetic field varies by location. Add or subtract
+// a declination to get a more accurate heading. Calculate
+// your's here:
+// http://www.ngdc.noaa.gov/geomag-web/#declination
+#define DECLINATION -4.94 // Declination (degrees) in Atlanta,GA.
+
+DigitalOut myled(LED1);
+Serial pc(USBTX, USBRX);
+InterruptIn pb(p21);
+InterruptIn pb2(p5);
+WirelessModule wireless(p28, p27, HAND_GESTURE);
+
+void pb_hit_interruptA() {
+    pc.printf("pressed\n\r");
+    wireless.sendDirection(A_BUTTON);
+}
+void pb_hit_interruptB(){
+    wireless.sendDirection(B_BUTTON);
+    pc.printf("pressedB\n\r");
+}
+int main()
+{
+    
+    LSM9DS1 IMU(p9, p10, 0xD6, 0x3C);
+    IMU.begin();
+    if (!IMU.begin()) {
+        pc.printf("Failed to communicate with LSM9DS1.\n");
+    }
+    IMU.calibrate(1);
+    //IMU.calibrateMag(0);
+    pb.mode(PullUp);
+    pb2.mode(PullUp);
+    wait(.01);
+    pb.fall(&pb_hit_interruptA);
+    pb2.fall(&pb_hit_interruptB);
+    double inX,inY,inZ;
+    int pos=0;
+    while(1) {
+        while(!IMU.accelAvailable()) {pos = 0;}
+        IMU.readAccel();
+                      
+        inX = IMU.calcAccel(IMU.ax);
+        inY = IMU.calcAccel(IMU.ay); 
+        inZ = IMU.calcAccel(IMU.az);
+        if (inY >= .5)
+        {
+            pc.printf("left\n\r");
+            pos = 1;
+            wireless.sendDirection(DIR_LEFT);
+        }
+        else if( inY <= -.5)
+        {
+            pc.printf("right\n\r");
+            pos = 2;
+            wireless.sendDirection(DIR_RIGHT);
+        }
+        else if (inX >= .5)
+        {
+            pc.printf("up\n\r");
+            pos = 3;
+            wireless.sendDirection(DIR_UP);
+        }
+        else if (inX <= -.5)
+        {
+            pc.printf("down\n\r");
+            pos = 4;
+            wireless.sendDirection(DIR_DOWN);
+        }
+        else
+        {
+            //pc.printf("error");
+            pos = 0;
+            wireless.sendDirection(DIR_NONE);
+        }
+        wait(0.5);
+    }
+}
+